A new scheme for hybrid force-position control-Reference-Cited by-同舟云学术

A new scheme for hybrid force-position control

Published:1993-09 Issue:5 Volume:11 Page:453-464
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Perdereau Véronique,Drouin Michel

Abstract

SUMMARYMany robotic tasks require the end-effector to come into contact with the external environment. In such complex tasks, the manipulator is constrained by the environment, and certain DOFs are lost for motion. The contact forces must be controlled in constraint directions, while the tip position is simultaneously controlled in the free directions.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference13 articles.

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3. 8. Wedel D.L. and Saridis G.N. , “An experiment in hybrid position/force control of a six D.O.F. revolute manipulator” Proc. IEEE International Conference on Robotics and Automation, Philadelphia, USA (April 24–29, 1988) pp. 1638–1642.

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5. 5. Khatib O. and Burdick J. , “Motion and force control of robot manipulators” Proc. IEEE International Conference on Robotics and Automation, San Francisco, USA (April 7–10, 1986) pp. 1381–1386.

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